Split goal scene conditions for left and right goals with team color detection

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This PR addresses the need to separate goal detection logic that was previously combined for both left and right goals. The original implementation used a single condition that handled both goals simultaneously, making it difficult to distinguish between different goal scenarios and team contexts.

Key Changes

1. Split Goal Detection Logic

• Before: Combined condition ((ball_x > poji_goal_x and ...) or (ball_x < nega_goal_x and ...))
• After: Separate if/elif blocks for right goal (x > 6000) and left goal (x < -6000)

2. Team Color Detection

Added determine_attacking_team() function that:

• Calculates average distance of each team's robots to the respective goal
• Determines which team (yellow/blue) is attacking based on proximity
• Provides context for understanding which team scored

3. Enhanced Data Storage

• Before: Single file robot_position_goal.csv
• After: Separate files robot_position_left_goal.csv and robot_position_right_goal.csv
• Added new columns: attacking_team, goal_side, ball_angle, ball_speed, ball_x, ball_y

4. Ball Trajectory Analysis

Implemented calculate_ball_angle() function that:

• Computes shooting angle from ball velocity data using math.atan2(vy, vx)
• Includes both angle (degrees) and speed information
• Helps analyze shot characteristics and trajectory patterns

5. Integration Fixes

• Updated goal_scene() function signature to match existing architecture
• Enabled goal scene thread in main.py with proper argument passing
• Added robust error handling and debug logging

Example Usage

The system now generates separate CSV files for each goal with enhanced data:

# robot_position_right_goal.csv
yellow_0_x,yellow_0_y,blue_0_x,blue_0_y,...,attacking_team,goal_side,ball_angle,ball_speed,ball_x,ball_y
5000,100,-3000,200,...,yellow,right,26.6,111.8,6100,200

This makes it much easier to analyze:

• Which team scored on which goal
• Shot angles and velocities
• Robot positions during goal events
• Separate analysis of left vs right goal scenarios

Fixes #86.

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